#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import rospy, sys
import moveit_commander
from moveit_commander import MoveGroupCommander
from geometry_msgs.msg import PoseStamped, Pose
from copy import deepcopy


class MoveItCartesianDemo:
    def __init__(self):
        # 初始化move_group的API
        moveit_commander.roscpp_initialize(sys.argv)

        # 初始化ROS节点
        rospy.init_node('moveit_cartesian_demo', anonymous=True)
        
        # 是否需要使用笛卡尔空间的运动规划
        cartesian = rospy.get_param('~cartesian', True)
                        
        # 初始化需要使用move group控制的机械臂中的arm group
        arm = MoveGroupCommander('gluon')
        
        # 当运动规划失败后，允许重新规划
        arm.allow_replanning(True)
        
        # 设置目标位置所使用的参考坐标系
        arm.set_pose_reference_frame('base_link')
                
        # 设置位置(单位：米)和姿态（单位：弧度）的允许误差
        arm.set_goal_position_tolerance(0.01)
        arm.set_goal_orientation_tolerance(0.1)
        
        # 获取终端link的名称
        end_effector_link = arm.get_end_effector_link()
                                        
        # 控制机械臂运动到之前设置的“home”姿态
        arm.set_named_target('home_pose')
        arm.go()
        print("go to home")
        
       

        # 姿态使用四元数描述，基于base_link坐标系
        target_pose = PoseStamped()
        target_pose.header.frame_id = 'base_link'
        target_pose.header.stamp = rospy.Time.now()     
        target_pose.pose.position.x = 0.2593
        target_pose.pose.position.y = 0.0636
        target_pose.pose.position.z = 0.1787
        target_pose.pose.orientation.x = 0.70692
        target_pose.pose.orientation.y = 0.1
        target_pose.pose.orientation.z = 0.2
        target_pose.pose.orientation.w = 0.70729

        
        # 设置机器臂当前的状态作为运动初始状态
        arm.set_start_state_to_current_state()
        
        # 设置机械臂终端运动的目标位姿
        arm.set_pose_target(target_pose, end_effector_link)
        
        # 规划运动路径
        # traj = arm.plan()
        plan_success,traj,planning_time,error_code = arm.plan()
        
        # 按照规划的运动路径控制机械臂运动
        arm.execute(traj)
        rospy.sleep(1)
        
        # 获取当前位姿数据最为机械臂运动的起始位姿
        start_pose = arm.get_current_pose(end_effector_link).pose
                
        # 中间位姿  从start_pose 到 target_pose
        wpose = deepcopy(start_pose)
        waypoints = []
        interval_num = 3

        ## 设置路点    
        interval_x = (target_pose.pose.position.x - start_pose.position.x)/interval_num
        interval_y = (target_pose.pose.position.y - start_pose.position.y)/interval_num
        interval_z = (target_pose.pose.position.z - start_pose.position.z)/interval_num

        for i in range(interval_num):
            wpose.position.x += interval_x
            wpose.position.y += interval_y
            wpose.position.z += interval_z
            waypoints.append(wpose)


        fraction = 0.0   #路径规划覆盖率
        maxtries = 100   #最大尝试规划次数
        attempts = 0     #已经尝试规划次数
        
        # 设置机器臂当前的状态作为运动初始状态
        arm.set_start_state_to_current_state()

        # 尝试规划一条笛卡尔空间下的路径，依次通过所有路点
        while fraction < 1.0 and attempts < maxtries:
            (plan, fraction) = arm.compute_cartesian_path (waypoints, 0.01, 0.0, True)         
            attempts += 1      
            if attempts % 10 == 0:
                rospy.loginfo("Still trying after " + str(attempts) + " attempts...")
                            
        # 如果路径规划成功（覆盖率100%）,则开始控制机械臂运动
        if fraction == 1.0:
            rospy.loginfo("Path computed successfully. Moving the arm.")
            arm.execute(plan)
            rospy.loginfo("Path execution complete.")
        # 如果路径规划失败，则打印失败信息
        else:
            rospy.loginfo("Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.")  

        # 控制机械臂回到初始化位置
        arm.set_named_target('home_pose')
        arm.go()
        rospy.sleep(1)
        
        # 关闭并退出moveit
        moveit_commander.roscpp_shutdown()
        moveit_commander.os._exit(0)

if __name__ == "__main__":
    try:
        MoveItCartesianDemo()
    except rospy.ROSInterruptException:
        pass
